Medical systems incorporating pulley sharing

ABSTRACT

Provided is a robotic system that includes a surgical instrument with a wrist that allows N degrees of freedom of movement. The N degrees of freedom can be controlled by N+1 cable segments. The wrist can include a first set pulleys configured to rotate about a first axis and a second set of pulleys configured to rotate about a second axis. The wrist can further comprise one or more pulleys configured to engage two of the cable segments, wherein at least one of the pulleys is shared by a first cable segment and a second cable segment. The first cable segment and the second cable segment that share the pulley can be independent from one another. In some circumstances, the surgical instrument can be actuated in N+1 degrees of movement by advancing or retracting at least two of N+1 cable segments.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of U.S. Provisional Application No. 62/691,374, filed Jun. 28, 2018, which is hereby incorporated by reference herein in its entirety.

TECHNICAL FIELD

The systems and methods disclosed herein are directed to robotic medical systems, and in particular, to robotic medical systems with an improved wrist configuration.

BACKGROUND

Medical procedures, such as laparoscopy, may involve accessing and visualizing an internal region of a patient. In a laparoscopic procedure, a medical instrument can be inserted into the internal region through a laparoscopic access port.

In certain procedures, a robotically-enabled medical system may be used to control the insertion and/or manipulation of the medical instrument and end effector. The robotically-enabled medical system may include a robotic arm or any other instrument positioning device. The robotically-enabled medical system may also include a controller used to control the positioning of the instrument during the procedure.

SUMMARY

In a first aspect, a surgical instrument comprises a surgical effector having multiple degrees of movement, a wrist coupled to the surgical effector, the wrist including at least a first pulley, and at least two cable segments extending through the wrist to the surgical effector to actuate the surgical effector in the multiple degrees of movement, the at least two cable segments engaging opposing sides of the first pulley. The at least two cable segments are independent from one another.

The surgical instrument may further include one or more of the following features in any combination: (a) wherein the multiple degrees of movement of the surgical effector includes rotation about a pitch axis and wherein the first pulley also rotates about the pitch axis; (b) wherein the surgical effector has at least N degrees of freedom of movement which are controlled by N+1 cable segments extending through the wrist to the surgical effector; (c) wherein the surgical effector has at least three degrees of movement and the surgical system includes at least four cable segments; (d) wherein the three degrees of movement include a first yaw angle, a second yaw angle and a pitch angle of the surgical effector; (e) wherein the wrist includes at least two pulleys aligned along a pitch axis of the surgical effector; (f) wherein the at least two pulleys are positioned adjacent to one another; (g) wherein the at least two pulleys are spaced apart from each other and offset from a central axis of the wrist; (h) wherein the at least two pulleys are the only pulleys in the wrist aligned with the pitch axis; (i) wherein the first pulley is part of a proximal set of pulleys; (j) wherein the surgical instrument further comprises a distal set of pulleys relative to the proximal set of pulleys; (k) wherein one or more redirect surfaces are formed between the proximal set of pulleys and distal set of pulleys; (l) wherein the at least two cable segments that engage opposite sides of the first pulley are not part of the same cable; (m) wherein the at least two cable segments that engage opposite sides of the first pulley are independently moveable from one another; (n) wherein the at least two cable segments that engage opposite sides of the first pulley are independently actuatable from one another; and/or (o) wherein the one or more redirect surfaces are stationary.

In another aspect, a surgical instrument comprises a wrist comprising a first pulley that rotates about a pitch axis, a surgical effector with at least two degrees of freedom of movement, one of the degrees of movement comprising rotation about the pitch axis, and at least a first and second cable segment extending through the wrist for actuating the surgical effector in the at least two degrees of freedom of movement, the first and second cable segments both engaging the first pulley. The first cable and the second cable are independent from one another.

In another aspect, a surgical instrument comprises a wrist including one or more pulleys, and a surgical effector with N degrees of movement, at least one of the N degrees of movement comprising rotation about a pitch axis extending through the wrist, wherein at least N+1 cable segments extending through the wrist to actuate the surgical effector in the N degrees of movement, and wherein at least two of the N+1 cable segments sharing one of the pulleys in the wrist.

The surgical instrument may further include one or more of the following features in any combination: (a) wherein the wrist includes a distal clevis and a proximal clevis; (b) wherein the one or more pulleys are part of a first set of pulleys, and wherein the wrist includes a second set of pulleys positioned distal to the first set of pulleys; (c) wherein the distal clevis of the wrist includes redirect surfaces between the first and the second set of pulleys; and/or (d) wherein the redirect surfaces are stationary surfaces.

In another aspect, a surgical system comprises a robotic arm, a surgical effector coupled to the robotic arm, the surgical effector having multiple degrees of movement, a wrist positioned between the surgical effector and the robotic arm; the wrist including at least a first pulley, and at least two cable segments extending through the wrist to the surgical effector to actuate the surgical effector in the multiple degrees of movement, the at least two cable segments engaging opposing sides of the first pulley. The at least two cable segments are independent from one another.

In another aspect, a surgical system comprises a surgical instrument comprising a surgical effector, a wrist coupled to the surgical effector, the wrist comprising a proximal clevis and a distal clevis, wherein the distal clevis comprises one or more stationary redirect surfaces, and at least two cable segments extending through the wrist to the surgical effector to actuate the surgical effector, wherein the at least two cable segments engage the one or more stationary redirect surfaces in the distal clevis.

The surgical system may further include one or more of the following features in any combination: (a) wherein the surgical instrument further comprises one or more pulleys in the proximal clevis and one or more pulleys in the distal clevis; (b) wherein the stationary redirect surfaces are positioned between the one or more pulleys in the proximal clevis and the one or more pulleys in the distal clevis; (c) wherein the one or more redirect stationary surfaces in the distal clevis are part of one or more surfaces that form a perimeter of a slot; and/or (d) wherein the surgical instrument further comprises one or more stationary redirect surfaces in the proximal clevis.

In another aspect, a method of actuating a surgical effector in multiple degrees of movement, the method comprises (i) advancing or retracting a first cable segment extending about a first side of a first pulley in a wrist that is coupled to the surgical effector to actuate the surgical effector in a first degree of movement, and (ii) advancing or retracting a second cable segment extending about a second side of the first pulley to actuate the surgical effector in a second degree of movement.

The method may further include rotating the surgical effector about a pitch axis that extends through an axis of the first pulley by advancing or retracting the first cable segment and by advancing or retracting the second pulley segment.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosed aspects will hereinafter be described in conjunction with the appended drawings, provided to illustrate and not to limit the disclosed aspects, wherein like designations denote like elements.

FIG. 1 illustrates an embodiment of a cart-based robotic system arranged for diagnostic and/or therapeutic bronchoscopy procedure(s).

FIG. 2 depicts further aspects of the robotic system of FIG. 1.

FIG. 3 illustrates an embodiment of the robotic system of FIG. 1 arranged for ureteroscopy.

FIG. 4 illustrates an embodiment of the robotic system of FIG. 1 arranged for a vascular procedure.

FIG. 5 illustrates an embodiment of a table-based robotic system arranged for a bronchoscopy procedure.

FIG. 6 provides an alternative view of the robotic system of FIG. 5.

FIG. 7 illustrates an example system configured to stow robotic arm(s).

FIG. 8 illustrates an embodiment of a table-based robotic system configured for a ureteroscopy procedure.

FIG. 9 illustrates an embodiment of a table-based robotic system configured for a laparoscopic procedure.

FIG. 10 illustrates an embodiment of the table-based robotic system of FIGS. 5-9 with pitch or tilt adjustment.

FIG. 11 provides a detailed illustration of the interface between the table and the column of the table-based robotic system of FIGS. 5-10.

FIG. 12 illustrates an alternative embodiment of a table-based robotic system.

FIG. 13 illustrates an end view of the table-based robotic system of FIG. 12.

FIG. 14 illustrates an end view of a table-based robotic system with robotic arms attached thereto.

FIG. 15 illustrates an exemplary instrument driver.

FIG. 16 illustrates an exemplary medical instrument with a paired instrument driver.

FIG. 17 illustrates an alternative design for an instrument driver and instrument where the axes of the drive units are parallel to the axis of the elongated shaft of the instrument.

FIG. 18 illustrates an instrument having an instrument-based insertion architecture.

FIG. 19 illustrates an exemplary controller.

FIG. 20 depicts a block diagram illustrating a localization system that estimates a location of one or more elements of the robotic systems of FIGS. 1-10, such as the location of the instrument of FIGS. 16-18, in accordance to an example embodiment.

FIG. 21 illustrates a side view of a surgical instrument.

FIG. 22 illustrates a perspective view of an embodiment of a surgical instrument.

FIG. 23A illustrates a perspective view of cables of a surgical wrist of the surgical instrument shown in FIG. 22.

FIG. 23B illustrates another perspective view of the surgical wrist of the surgical instrument shown in FIG. 22.

FIG. 23C illustrates a perspective view of the surgical instrument of FIG. 22, showing rotation of two forceps halves about a yaw axis.

FIG. 23D illustrates a perspective view of the surgical instrument of FIG. 22, showing rotation of a surgical effector about a pitch axis.

FIG. 24A illustrates a side view of an embodiment of a pulley sharing N+1 wrist, showing interactions between cable segments and a proximal and a distal pulleys.

FIG. 24B illustrates a side view of an embodiment of a pulley sharing N+1 wrist, showing interaction between cable segments and a proximal and a distal clevis.

FIG. 25A illustrates a top, perspective view of a distal clevis of a pulley sharing N+1 wrist.

FIG. 25B illustrates a top view of the distal clevis of FIG. 25A with a plurality of cable segments extending through.

FIG. 25C illustrates a top, perspective view of the distal clevis of FIG. 25A with a plurality of cable segments extending through.

FIG. 26A illustrates a top view of a proximal clevis of a pulley sharing N+1 wrist.

FIG. 26B illustrates a top view of the proximal clevis of FIG. 26A with a plurality of cable segments extending through the proximal clevis.

FIG. 26C illustrates a side view of the proximal clevis of FIG. 26A and a side view of an embodiment of a pulley sharing N+1 wrist.

DETAILED DESCRIPTION 1. Overview

Aspects of the present disclosure may be integrated into a robotically-enabled medical system capable of performing a variety of medical procedures, including both minimally invasive, such as laparoscopy, and non-invasive, such as endoscopy, procedures. Among endoscopy procedures, the system may be capable of performing bronchoscopy, ureteroscopy, gastroscopy, etc.

In addition to performing the breadth of procedures, the system may provide additional benefits, such as enhanced imaging and guidance to assist the physician. Additionally, the system may provide the physician with the ability to perform the procedure from an ergonomic position without the need for awkward arm motions and positions. Still further, the system may provide the physician with the ability to perform the procedure with improved ease of use such that one or more of the instruments of the system can be controlled by a single user.

Various embodiments will be described below in conjunction with the drawings for purposes of illustration. It should be appreciated that many other implementations of the disclosed concepts are possible, and various advantages can be achieved with the disclosed implementations. Headings are included herein for reference and to aid in locating various sections. These headings are not intended to limit the scope of the concepts described with respect thereto. Such concepts may have applicability throughout the entire specification.

A. Robotic System—Cart.

The robotically-enabled medical system may be configured in a variety of ways depending on the particular procedure. FIG. 1 illustrates an embodiment of a cart-based robotically-enabled system 10 arranged for a diagnostic and/or therapeutic bronchoscopy procedure. During a bronchoscopy, the system 10 may comprise a cart 11 having one or more robotic arms 12 to deliver a medical instrument, such as a steerable endoscope 13, which may be a procedure-specific bronchoscope for bronchoscopy, to a natural orifice access point (i.e., the mouth of the patient positioned on a table in the present example) to deliver diagnostic and/or therapeutic tools. As shown, the cart 11 may be positioned proximate to the patient's upper torso in order to provide access to the access point. Similarly, the robotic arms 12 may be actuated to position the bronchoscope relative to the access point. The arrangement in FIG. 1 may also be utilized when performing a gastro-intestinal (GI) procedure with a gastroscope, a specialized endoscope for GI procedures. FIG. 2 depicts an example embodiment of the cart in greater detail.

With continued reference to FIG. 1, once the cart 11 is properly positioned, the robotic arms 12 may insert the steerable endoscope 13 into the patient robotically, manually, or a combination thereof. As shown, the steerable endoscope 13 may comprise at least two telescoping parts, such as an inner leader portion and an outer sheath portion, each portion coupled to a separate instrument driver from the set of instrument drivers 28, each instrument driver coupled to the distal end of an individual robotic arm. This linear arrangement of the instrument drivers 28, which facilitates coaxially aligning the leader portion with the sheath portion, creates a “virtual rail” 29 that may be repositioned in space by manipulating the one or more robotic arms 12 into different angles and/or positions. The virtual rails described herein are depicted in the Figures using dashed lines, and accordingly the dashed lines do not depict any physical structure of the system. Translation of the instrument drivers 28 along the virtual rail 29 telescopes the inner leader portion relative to the outer sheath portion or advances or retracts the endoscope 13 from the patient. The angle of the virtual rail 29 may be adjusted, translated, and pivoted based on clinical application or physician preference. For example, in bronchoscopy, the angle and position of the virtual rail 29 as shown represents a compromise between providing physician access to the endoscope 13 while minimizing friction that results from bending the endoscope 13 into the patient's mouth.

The endoscope 13 may be directed down the patient's trachea and lungs after insertion using precise commands from the robotic system until reaching the target destination or operative site. In order to enhance navigation through the patient's lung network and/or reach the desired target, the endoscope 13 may be manipulated to telescopically extend the inner leader portion from the outer sheath portion to obtain enhanced articulation and greater bend radius. The use of separate instrument drivers 28 also allows the leader portion and sheath portion to be driven independent of each other.

For example, the endoscope 13 may be directed to deliver a biopsy needle to a target, such as, for example, a lesion or nodule within the lungs of a patient. The needle may be deployed down a working channel that runs the length of the endoscope to obtain a tissue sample to be analyzed by a pathologist. Depending on the pathology results, additional tools may be deployed down the working channel of the endoscope for additional biopsies. After identifying a nodule to be malignant, the endoscope 13 may endoscopically deliver tools to resect the potentially cancerous tissue. In some instances, diagnostic and therapeutic treatments can be delivered in separate procedures. In those circumstances, the endoscope 13 may also be used to deliver a fiducial to “mark” the location of the target nodule as well. In other instances, diagnostic and therapeutic treatments may be delivered during the same procedure.

The system 10 may also include a movable tower 30, which may be connected via support cables to the cart 11 to provide support for controls, electronics, fluidics, optics, sensors, and/or power to the cart 11. Placing such functionality in the tower 30 allows for a smaller form factor cart 11 that may be more easily adjusted and/or re-positioned by an operating physician and his/her staff. Additionally, the division of functionality between the cart/table and the support tower 30 reduces operating room clutter and facilitates improving clinical workflow. While the cart 11 may be positioned close to the patient, the tower 30 may be stowed in a remote location to stay out of the way during a procedure.

In support of the robotic systems described above, the tower 30 may include component(s) of a computer-based control system that stores computer program instructions, for example, within a non-transitory computer-readable storage medium such as a persistent magnetic storage drive, solid state drive, etc. The execution of those instructions, whether the execution occurs in the tower 30 or the cart 11, may control the entire system or sub-system(s) thereof. For example, when executed by a processor of the computer system, the instructions may cause the components of the robotics system to actuate the relevant carriages and arm mounts, actuate the robotics arms, and control the medical instruments. For example, in response to receiving the control signal, the motors in the joints of the robotics arms may position the arms into a certain posture.

The tower 30 may also include a pump, flow meter, valve control, and/or fluid access in order to provide controlled irrigation and aspiration capabilities to the system that may be deployed through the endoscope 13. These components may also be controlled using the computer system of tower 30. In some embodiments, irrigation and aspiration capabilities may be delivered directly to the endoscope 13 through separate cable(s).

The tower 30 may include a voltage and surge protector designed to provide filtered and protected electrical power to the cart 11, thereby avoiding placement of a power transformer and other auxiliary power components in the cart 11, resulting in a smaller, more moveable cart 11.

The tower 30 may also include support equipment for the sensors deployed throughout the robotic system 10. For example, the tower 30 may include opto-electronics equipment for detecting, receiving, and processing data received from the optical sensors or cameras throughout the robotic system 10. In combination with the control system, such opto-electronics equipment may be used to generate real-time images for display in any number of consoles deployed throughout the system, including in the tower 30. Similarly, the tower 30 may also include an electronic subsystem for receiving and processing signals received from deployed electromagnetic (EM) sensors. The tower 30 may also be used to house and position an EM field generator for detection by EM sensors in or on the medical instrument.

The tower 30 may also include a console 31 in addition to other consoles available in the rest of the system, e.g., console mounted on top of the cart. The console 31 may include a user interface and a display screen, such as a touchscreen, for the physician operator. Consoles in system 10 are generally designed to provide both robotic controls as well as pre-operative and real-time information of the procedure, such as navigational and localization information of the endoscope 13. When the console 31 is not the only console available to the physician, it may be used by a second operator, such as a nurse, to monitor the health or vitals of the patient and the operation of system, as well as provide procedure-specific data, such as navigational and localization information. In other embodiments, the console 30 is housed in a body that is separate from the tower 30.

The tower 30 may be coupled to the cart 11 and endoscope 13 through one or more cables or connections (not shown). In some embodiments, the support functionality from the tower 30 may be provided through a single cable to the cart 11, simplifying and de-cluttering the operating room. In other embodiments, specific functionality may be coupled in separate cabling and connections. For example, while power may be provided through a single power cable to the cart, the support for controls, optics, fluidics, and/or navigation may be provided through a separate cable.

FIG. 2 provides a detailed illustration of an embodiment of the cart from the cart-based robotically-enabled system shown in FIG. 1. The cart 11 generally includes an elongated support structure 14 (often referred to as a “column”), a cart base 15, and a console 16 at the top of the column 14. The column 14 may include one or more carriages, such as a carriage 17 (alternatively “arm support”) for supporting the deployment of one or more robotic arms 12 (three shown in FIG. 2). The carriage 17 may include individually configurable arm mounts that rotate along a perpendicular axis to adjust the base of the robotic arms 12 for better positioning relative to the patient. The carriage 17 also includes a carriage interface 19 that allows the carriage 17 to vertically translate along the column 14.

The carriage interface 19 is connected to the column 14 through slots, such as slot 20, that are positioned on opposite sides of the column 14 to guide the vertical translation of the carriage 17. The slot 20 contains a vertical translation interface to position and hold the carriage at various vertical heights relative to the cart base 15. Vertical translation of the carriage 17 allows the cart 11 to adjust the reach of the robotic arms 12 to meet a variety of table heights, patient sizes, and physician preferences. Similarly, the individually configurable arm mounts on the carriage 17 allow the robotic arm base 21 of robotic arms 12 to be angled in a variety of configurations.

In some embodiments, the slot 20 may be supplemented with slot covers that are flush and parallel to the slot surface to prevent dirt and fluid ingress into the internal chambers of the column 14 and the vertical translation interface as the carriage 17 vertically translates. The slot covers may be deployed through pairs of spring spools positioned near the vertical top and bottom of the slot 20. The covers are coiled within the spools until deployed to extend and retract from their coiled state as the carriage 17 vertically translates up and down. The spring-loading of the spools provides force to retract the cover into a spool when carriage 17 translates towards the spool, while also maintaining a tight seal when the carriage 17 translates away from the spool. The covers may be connected to the carriage 17 using, for example, brackets in the carriage interface 19 to ensure proper extension and retraction of the cover as the carriage 17 translates.

The column 14 may internally comprise mechanisms, such as gears and motors, that are designed to use a vertically aligned lead screw to translate the carriage 17 in a mechanized fashion in response to control signals generated in response to user inputs, e.g., inputs from the console 16.

The robotic arms 12 may generally comprise robotic arm bases 21 and end effectors 22, separated by a series of linkages 23 that are connected by a series of joints 24, each joint comprising an independent actuator, each actuator comprising an independently controllable motor. Each independently controllable joint represents an independent degree of freedom available to the robotic arm. Each of the arms 12 have seven joints, and thus provide seven degrees of freedom. A multitude of joints result in a multitude of degrees of freedom, allowing for “redundant” degrees of freedom. Redundant degrees of freedom allow the robotic arms 12 to position their respective end effectors 22 at a specific position, orientation, and trajectory in space using different linkage positions and joint angles. This allows for the system to position and direct a medical instrument from a desired point in space while allowing the physician to move the arm joints into a clinically advantageous position away from the patient to create greater access, while avoiding arm collisions.

The cart base 15 balances the weight of the column 14, carriage 17, and arms 12 over the floor. Accordingly, the cart base 15 houses heavier components, such as electronics, motors, power supply, as well as components that either enable movement and/or immobilize the cart. For example, the cart base 15 includes rollable wheel-shaped casters 25 that allow for the cart to easily move around the room prior to a procedure. After reaching the appropriate position, the casters 25 may be immobilized using wheel locks to hold the cart 11 in place during the procedure.

Positioned at the vertical end of column 14, the console 16 allows for both a user interface for receiving user input and a display screen (or a dual-purpose device such as, for example, a touchscreen 26) to provide the physician user with both pre-operative and intra-operative data. Potential pre-operative data on the touchscreen 26 may include pre-operative plans, navigation and mapping data derived from pre-operative computerized tomography (CT) scans, and/or notes from pre-operative patient interviews. Intra-operative data on display may include optical information provided from the tool, sensor and coordinate information from sensors, as well as vital patient statistics, such as respiration, heart rate, and/or pulse. The console 16 may be positioned and tilted to allow a physician to access the console from the side of the column 14 opposite carriage 17. From this position, the physician may view the console 16, robotic arms 12, and patient while operating the console 16 from behind the cart 11. As shown, the console 16 also includes a handle 27 to assist with maneuvering and stabilizing cart 11.

FIG. 3 illustrates an embodiment of a robotically-enabled system 10 arranged for ureteroscopy. In a ureteroscopic procedure, the cart 11 may be positioned to deliver a ureteroscope 32, a procedure-specific endoscope designed to traverse a patient's urethra and ureter, to the lower abdominal area of the patient. In a ureteroscopy, it may be desirable for the ureteroscope 32 to be directly aligned with the patient's urethra to reduce friction and forces on the sensitive anatomy in the area. As shown, the cart 11 may be aligned at the foot of the table to allow the robotic arms 12 to position the ureteroscope 32 for direct linear access to the patient's urethra. From the foot of the table, the robotic arms 12 may insert the ureteroscope 32 along the virtual rail 33 directly into the patient's lower abdomen through the urethra.

After insertion into the urethra, using similar control techniques as in bronchoscopy, the ureteroscope 32 may be navigated into the bladder, ureters, and/or kidneys for diagnostic and/or therapeutic applications. For example, the ureteroscope 32 may be directed into the ureter and kidneys to break up kidney stone build up using a laser or ultrasonic lithotripsy device deployed down the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments may be removed using baskets deployed down the ureteroscope 32.

FIG. 4 illustrates an embodiment of a robotically-enabled system similarly arranged for a vascular procedure. In a vascular procedure, the system 10 may be configured such that the cart 11 may deliver a medical instrument 34, such as a steerable catheter, to an access point in the femoral artery in the patient's leg. The femoral artery presents both a larger diameter for navigation as well as a relatively less circuitous and tortuous path to the patient's heart, which simplifies navigation. As in a ureteroscopic procedure, the cart 11 may be positioned towards the patient's legs and lower abdomen to allow the robotic arms 12 to provide a virtual rail 35 with direct linear access to the femoral artery access point in the patient's thigh/hip region. After insertion into the artery, the medical instrument 34 may be directed and inserted by translating the instrument drivers 28. Alternatively, the cart may be positioned around the patient's upper abdomen in order to reach alternative vascular access points, such as, for example, the carotid and brachial arteries near the shoulder and wrist.

B. Robotic System—Table.

Embodiments of the robotically-enabled medical system may also incorporate the patient's table. Incorporation of the table reduces the amount of capital equipment within the operating room by removing the cart, which allows greater access to the patient. FIG. 5 illustrates an embodiment of such a robotically-enabled system arranged for a bronchoscopy procedure. System 36 includes a support structure or column 37 for supporting platform 38 (shown as a “table” or “bed”) over the floor. Much like in the cart-based systems, the end effectors of the robotic arms 39 of the system 36 comprise instrument drivers 42 that are designed to manipulate an elongated medical instrument, such as a bronchoscope 40 in FIG. 5, through or along a virtual rail 41 formed from the linear alignment of the instrument drivers 42. In practice, a C-arm for providing fluoroscopic imaging may be positioned over the patient's upper abdominal area by placing the emitter and detector around table 38.

FIG. 6 provides an alternative view of the system 36 without the patient and medical instrument for discussion purposes. As shown, the column 37 may include one or more carriages 43 shown as ring-shaped in the system 36, from which the one or more robotic arms 39 may be based. The carriages 43 may translate along a vertical column interface 44 that runs the length of the column 37 to provide different vantage points from which the robotic arms 39 may be positioned to reach the patient. The carriage(s) 43 may rotate around the column 37 using a mechanical motor positioned within the column 37 to allow the robotic arms 39 to have access to multiples sides of the table 38, such as, for example, both sides of the patient. In embodiments with multiple carriages, the carriages may be individually positioned on the column and may translate and/or rotate independent of the other carriages. While carriages 43 need not surround the column 37 or even be circular, the ring-shape as shown facilitates rotation of the carriages 43 around the column 37 while maintaining structural balance. Rotation and translation of the carriages 43 allows the system to align the medical instruments, such as endoscopes and laparoscopes, into different access points on the patient. In other embodiments (not shown), the system 36 can include a patient table or bed with adjustable arm supports in the form of bars or rails extending alongside it. One or more robotic arms 39 (e.g., via a shoulder with an elbow joint) can be attached to the adjustable arm supports, which can be vertically adjusted. By providing vertical adjustment, the robotic arms 39 are advantageously capable of being stowed compactly beneath the patient table or bed, and subsequently raised during a procedure.

The arms 39 may be mounted on the carriages through a set of arm mounts 45 comprising a series of joints that may individually rotate and/or telescopically extend to provide additional configurability to the robotic arms 39. Additionally, the arm mounts 45 may be positioned on the carriages 43 such that, when the carriages 43 are appropriately rotated, the arm mounts 45 may be positioned on either the same side of table 38 (as shown in FIG. 6), on opposite sides of table 38 (as shown in FIG. 9), or on adjacent sides of the table 38 (not shown).

The column 37 structurally provides support for the table 38, and a path for vertical translation of the carriages. Internally, the column 37 may be equipped with lead screws for guiding vertical translation of the carriages, and motors to mechanize the translation of said carriages based the lead screws. The column 37 may also convey power and control signals to the carriage 43 and robotic arms 39 mounted thereon.

The table base 46 serves a similar function as the cart base 15 in cart 11 shown in FIG. 2, housing heavier components to balance the table/bed 38, the column 37, the carriages 43, and the robotic arms 39. The table base 46 may also incorporate rigid casters to provide stability during procedures. Deployed from the bottom of the table base 46, the casters may extend in opposite directions on both sides of the base 46 and retract when the system 36 needs to be moved.

Continuing with FIG. 6, the system 36 may also include a tower (not shown) that divides the functionality of system 36 between table and tower to reduce the form factor and bulk of the table. As in earlier disclosed embodiments, the tower may provide a variety of support functionalities to table, such as processing, computing, and control capabilities, power, fluidics, and/or optical and sensor processing. The tower may also be movable to be positioned away from the patient to improve physician access and de-clutter the operating room. Additionally, placing components in the tower allows for more storage space in the table base for potential stowage of the robotic arms. The tower may also include a master controller or console that provides both a user interface for user input, such as keyboard and/or pendant, as well as a display screen (or touchscreen) for pre-operative and intra-operative information, such as real-time imaging, navigation, and tracking information. In some embodiments, the tower may also contain holders for gas tanks to be used for insufflation.

In some embodiments, a table base may stow and store the robotic arms when not in use. FIG. 7 illustrates a system 47 that stows robotic arms in an embodiment of the table-based system. In system 47, carriages 48 may be vertically translated into base 49 to stow robotic arms 50, arm mounts 51, and the carriages 48 within the base 49. Base covers 52 may be translated and retracted open to deploy the carriages 48, arm mounts 51, and arms 50 around column 53, and closed to stow to protect them when not in use. The base covers 52 may be sealed with a membrane 54 along the edges of its opening to prevent dirt and fluid ingress when closed.

FIG. 8 illustrates an embodiment of a robotically-enabled table-based system configured for a ureteroscopy procedure. In a ureteroscopy, the table 38 may include a swivel portion 55 for positioning a patient off-angle from the column 37 and table base 46. The swivel portion 55 may rotate or pivot around a pivot point (e.g., located below the patient's head) in order to position the bottom portion of the swivel portion 55 away from the column 37. For example, the pivoting of the swivel portion 55 allows a C-arm (not shown) to be positioned over the patient's lower abdomen without competing for space with the column (not shown) below table 38. By rotating the carriage 35 (not shown) around the column 37, the robotic arms 39 may directly insert a ureteroscope 56 along a virtual rail 57 into the patient's groin area to reach the urethra. In a ureteroscopy, stirrups 58 may also be fixed to the swivel portion 55 of the table 38 to support the position of the patient's legs during the procedure and allow clear access to the patient's groin area.

In a laparoscopic procedure, through small incision(s) in the patient's abdominal wall, minimally invasive instruments may be inserted into the patient's anatomy. In some embodiments, the minimally invasive instruments comprise an elongated rigid member, such as a shaft, which is used to access anatomy within the patient. After inflation of the patient's abdominal cavity, the instruments may be directed to perform surgical or medical tasks, such as grasping, cutting, ablating, suturing, etc. In some embodiments, the instruments can comprise a scope, such as a laparoscope. FIG. 9 illustrates an embodiment of a robotically-enabled table-based system configured for a laparoscopic procedure. As shown in FIG. 9, the carriages 43 of the system 36 may be rotated and vertically adjusted to position pairs of the robotic arms 39 on opposite sides of the table 38, such that instruments 59 may be positioned using the arm mounts 45 to be passed through minimal incisions on both sides of the patient to reach his/her abdominal cavity.

To accommodate laparoscopic procedures, the robotically-enabled table system may also tilt the platform to a desired angle. FIG. 10 illustrates an embodiment of the robotically-enabled medical system with pitch or tilt adjustment. As shown in FIG. 10, the system 36 may accommodate tilt of the table 38 to position one portion of the table at a greater distance from the floor than the other. Additionally, the arm mounts 45 may rotate to match the tilt such that the arms 39 maintain the same planar relationship with table 38. To accommodate steeper angles, the column 37 may also include telescoping portions 60 that allow vertical extension of column 37 to keep the table 38 from touching the floor or colliding with base 46.

FIG. 11 provides a detailed illustration of the interface between the table 38 and the column 37. Pitch rotation mechanism 61 may be configured to alter the pitch angle of the table 38 relative to the column 37 in multiple degrees of freedom. The pitch rotation mechanism 61 may be enabled by the positioning of orthogonal axes 1, 2 at the column-table interface, each axis actuated by a separate motor 3, 4 responsive to an electrical pitch angle command. Rotation along one screw 5 would enable tilt adjustments in one axis 1, while rotation along the other screw 6 would enable tilt adjustments along the other axis 2. In some embodiments, a ball joint can be used to alter the pitch angle of the table 38 relative to the column 37 in multiple degrees of freedom.

For example, pitch adjustments are particularly useful when trying to position the table in a Trendelenburg position, i.e., position the patient's lower abdomen at a higher position from the floor than the patient's lower abdomen, for lower abdominal surgery. The Trendelenburg position causes the patient's internal organs to slide towards his/her upper abdomen through the force of gravity, clearing out the abdominal cavity for minimally invasive tools to enter and perform lower abdominal surgical or medical procedures, such as laparoscopic prostatectomy.

FIGS. 12 and 13 illustrate isometric and end views of another embodiment of a table-based surgical robotics system 100. The surgical robotics system 100 includes one or more adjustable arm supports 105 that can be configured to support one or more robotic arms (see, for example, FIG. 14) relative to a table 101. In the illustrated embodiment, a single adjustable arm support 105 is shown, though an additional arm support can be provided on an opposite side of the table 101. The adjustable arm support 105 can be configured so that it can move relative to the table 101 to adjust and/or vary the position of the adjustable arm support 105 and/or any robotic arms mounted thereto relative to the table 101. For example, the adjustable arm support 105 may be adjusted one or more degrees of freedom relative to the table 101. The adjustable arm support 105 provides high versatility to the system 100, including the ability to easily stow the one or more adjustable arm supports 105 and any robotics arms attached thereto beneath the table 101. The adjustable arm support 105 can be elevated from the stowed position to a position below an upper surface of the table 101. In other embodiments, the adjustable arm support 105 can be elevated from the stowed position to a position above an upper surface of the table 101.

The adjustable arm support 105 can provide several degrees of freedom, including lift, lateral translation, tilt, etc. In the illustrated embodiment of FIGS. 12 and 13, the arm support 105 is configured with four degrees of freedom, which are illustrated with arrows in FIG. 12. A first degree of freedom allows for adjustment of the adjustable arm support 105 in the z-direction (“Z-lift”). For example, the adjustable arm support 105 can include a carriage 109 configured to move up or down along or relative to a column 102 supporting the table 101. A second degree of freedom can allow the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 can include a rotary joint, which can allow the adjustable arm support 105 to be aligned with the bed in a Trendelenburg position. A third degree of freedom can allow the adjustable arm support 105 to “pivot up,” which can be used to adjust a distance between a side of the table 101 and the adjustable arm support 105. A fourth degree of freedom can permit translation of the adjustable arm support 105 along a longitudinal length of the table.

The surgical robotics system 100 in FIGS. 12 and 13 can comprise a table supported by a column 102 that is mounted to a base 103. The base 103 and the column 102 support the table 101 relative to a support surface. A floor axis 131 and a support axis 133 are shown in FIG. 13.

The adjustable arm support 105 can be mounted to the column 102. In other embodiments, the arm support 105 can be mounted to the table 101 or base 103. The adjustable arm support 105 can include a carriage 109, a bar or rail connector 111 and a bar or rail 107. In some embodiments, one or more robotic arms mounted to the rail 107 can translate and move relative to one another.

The carriage 109 can be attached to the column 102 by a first joint 113, which allows the carriage 109 to move relative to the column 102 (e.g., such as up and down a first or vertical axis 123). The first joint 113 can provide the first degree of freedom (“Z-lift”) to the adjustable arm support 105. The adjustable arm support 105 can include a second joint 115, which provides the second degree of freedom (tilt) for the adjustable arm support 105. The adjustable arm support 105 can include a third joint 117, which can provide the third degree of freedom (“pivot up”) for the adjustable arm support 105. An additional joint 119 (shown in FIG. 13) can be provided that mechanically constrains the third joint 117 to maintain an orientation of the rail 107 as the rail connector 111 is rotated about a third axis 127. The adjustable arm support 105 can include a fourth joint 121, which can provide a fourth degree of freedom (translation) for the adjustable arm support 105 along a fourth axis 129.

FIG. 14 illustrates an end view of the surgical robotics system 140A with two adjustable arm supports 105A, 105B mounted on opposite sides of a table 101. A first robotic arm 142A is attached to the bar or rail 107A of the first adjustable arm support 105B. The first robotic arm 142A includes a base 144A attached to the rail 107A. The distal end of the first robotic arm 142A includes an instrument drive mechanism 146A that can attach to one or more robotic medical instruments or tools. Similarly, the second robotic arm 142B includes a base 144B attached to the rail 107B. The distal end of the second robotic arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B can be configured to attach to one or more robotic medical instruments or tools.

In some embodiments, one or more of the robotic arms 142A, 142B comprises an arm with seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A, 142B can include eight degrees of freedom, including an insertion axis (1-degree of freedom including insertion), a wrist (3-degrees of freedom including wrist pitch, yaw and roll), an elbow (1-degree of freedom including elbow pitch), a shoulder (2-degrees of freedom including shoulder pitch and yaw), and base 144A, 144B (1-degree of freedom including translation). In some embodiments, the insertion degree of freedom can be provided by the robotic arm 142A, 142B, while in other embodiments, the instrument itself provides insertion via an instrument-based insertion architecture.

C. Instrument Driver & Interface.

The end effectors of the system's robotic arms comprise (i) an instrument driver (alternatively referred to as “instrument drive mechanism” or “instrument device manipulator”) that incorporate electro-mechanical means for actuating the medical instrument and (ii) a removable or detachable medical instrument, which may be devoid of any electro-mechanical components, such as motors. This dichotomy may be driven by the need to sterilize medical instruments used in medical procedures, and the inability to adequately sterilize expensive capital equipment due to their intricate mechanical assemblies and sensitive electronics. Accordingly, the medical instruments may be designed to be detached, removed, and interchanged from the instrument driver (and thus the system) for individual sterilization or disposal by the physician or the physician's staff. In contrast, the instrument drivers need not be changed or sterilized, and may be draped for protection.

FIG. 15 illustrates an example instrument driver. Positioned at the distal end of a robotic arm, instrument driver 62 comprises of one or more drive units 63 arranged with parallel axes to provide controlled torque to a medical instrument via drive shafts 64. Each drive unit 63 comprises an individual drive shaft 64 for interacting with the instrument, a gear head 65 for converting the motor shaft rotation to a desired torque, a motor 66 for generating the drive torque, an encoder 67 to measure the speed of the motor shaft and provide feedback to the control circuitry, and control circuitry 68 for receiving control signals and actuating the drive unit. Each drive unit 63 being independent controlled and motorized, the instrument driver 62 may provide multiple (four as shown in FIG. 15) independent drive outputs to the medical instrument. In operation, the control circuitry 68 would receive a control signal, transmit a motor signal to the motor 66, compare the resulting motor speed as measured by the encoder 67 with the desired speed, and modulate the motor signal to generate the desired torque.

For procedures that require a sterile environment, the robotic system may incorporate a drive interface, such as a sterile adapter connected to a sterile drape, that sits between the instrument driver and the medical instrument. The chief purpose of the sterile adapter is to transfer angular motion from the drive shafts of the instrument driver to the drive inputs of the instrument while maintaining physical separation, and thus sterility, between the drive shafts and drive inputs. Accordingly, an example sterile adapter may comprise of a series of rotational inputs and outputs intended to be mated with the drive shafts of the instrument driver and drive inputs on the instrument. Connected to the sterile adapter, the sterile drape, comprised of a thin, flexible material such as transparent or translucent plastic, is designed to cover the capital equipment, such as the instrument driver, robotic arm, and cart (in a cart-based system) or table (in a table-based system). Use of the drape would allow the capital equipment to be positioned proximate to the patient while still being located in an area not requiring sterilization (i.e., non-sterile field). On the other side of the sterile drape, the medical instrument may interface with the patient in an area requiring sterilization (i.e., sterile field).

D. Medical Instrument.

FIG. 16 illustrates an example medical instrument with a paired instrument driver. Like other instruments designed for use with a robotic system, medical instrument 70 comprises an elongated shaft 71 (or elongate body) and an instrument base 72. The instrument base 72, also referred to as an “instrument handle” due to its intended design for manual interaction by the physician, may generally comprise rotatable drive inputs 73, e.g., receptacles, pulleys or spools, that are designed to be mated with drive outputs 74 that extend through a drive interface on instrument driver 75 at the distal end of robotic arm 76. When physically connected, latched, and/or coupled, the mated drive inputs 73 of instrument base 72 may share axes of rotation with the drive outputs 74 in the instrument driver 75 to allow the transfer of torque from drive outputs 74 to drive inputs 73. In some embodiments, the drive outputs 74 may comprise splines that are designed to mate with receptacles on the drive inputs 73.

The elongated shaft 71 is designed to be delivered through either an anatomical opening or lumen, e.g., as in endoscopy, or a minimally invasive incision, e.g., as in laparoscopy. The elongated shaft 71 may be either flexible (e.g., having properties similar to an endoscope) or rigid (e.g., having properties similar to a laparoscope) or contain a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of a rigid elongated shaft may be connected to an end effector extending from a jointed wrist formed from a clevis with at least one degree of freedom and a surgical tool or medical instrument, such as, for example, a grasper or scissors, that may be actuated based on force from the tendons as the drive inputs rotate in response to torque received from the drive outputs 74 of the instrument driver 75. When designed for endoscopy, the distal end of a flexible elongated shaft may include a steerable or controllable bending section that may be articulated and bent based on torque received from the drive outputs 74 of the instrument driver 75.

Torque from the instrument driver 75 is transmitted down the elongated shaft 71 using tendons along the shaft 71. These individual tendons, such as pull wires, may be individually anchored to individual drive inputs 73 within the instrument handle 72. From the handle 72, the tendons are directed down one or more pull lumens along the elongated shaft 71 and anchored at the distal portion of the elongated shaft 71, or in the wrist at the distal portion of the elongated shaft. During a surgical procedure, such as a laparoscopic, endoscopic or hybrid procedure, these tendons may be coupled to a distally mounted end effector, such as a wrist, grasper, or scissor. Under such an arrangement, torque exerted on drive inputs 73 would transfer tension to the tendon, thereby causing the end effector to actuate in some way. In some embodiments, during a surgical procedure, the tendon may cause a joint to rotate about an axis, thereby causing the end effector to move in one direction or another. Alternatively, the tendon may be connected to one or more jaws of a grasper at distal end of the elongated shaft 71, where tension from the tendon cause the grasper to close.

In endoscopy, the tendons may be coupled to a bending or articulating section positioned along the elongated shaft 71 (e.g., at the distal end) via adhesive, control ring, or other mechanical fixation. When fixedly attached to the distal end of a bending section, torque exerted on drive inputs 73 would be transmitted down the tendons, causing the softer, bending section (sometimes referred to as the articulable section or region) to bend or articulate. Along the non-bending sections, it may be advantageous to spiral or helix the individual pull lumens that direct the individual tendons along (or inside) the walls of the endoscope shaft to balance the radial forces that result from tension in the pull wires. The angle of the spiraling and/or spacing there between may be altered or engineered for specific purposes, wherein tighter spiraling exhibits lesser shaft compression under load forces, while lower amounts of spiraling results in greater shaft compression under load forces, but also exhibits limits bending. On the other end of the spectrum, the pull lumens may be directed parallel to the longitudinal axis of the elongated shaft 71 to allow for controlled articulation in the desired bending or articulable sections.

In endoscopy, the elongated shaft 71 houses a number of components to assist with the robotic procedure. The shaft may comprise of a working channel for deploying surgical tools (or medical instruments), irrigation, and/or aspiration to the operative region at the distal end of the shaft 71. The shaft 71 may also accommodate wires and/or optical fibers to transfer signals to/from an optical assembly at the distal tip, which may include of an optical camera. The shaft 71 may also accommodate optical fibers to carry light from proximally-located light sources, such as light emitting diodes, to the distal end of the shaft.

At the distal end of the instrument 70, the distal tip may also comprise the opening of a working channel for delivering tools for diagnostic and/or therapy, irrigation, and aspiration to an operative site. The distal tip may also include a port for a camera, such as a fiberscope or a digital camera, to capture images of an internal anatomical space. Relatedly, the distal tip may also include ports for light sources for illuminating the anatomical space when using the camera.

In the example of FIG. 16, the drive shaft axes, and thus the drive input axes, are orthogonal to the axis of the elongated shaft. This arrangement, however, complicates roll capabilities for the elongated shaft 71. Rolling the elongated shaft 71 along its axis while keeping the drive inputs 73 static results in undesirable tangling of the tendons as they extend off the drive inputs 73 and enter pull lumens within the elongated shaft 71. The resulting entanglement of such tendons may disrupt any control algorithms intended to predict movement of the flexible elongated shaft during an endoscopic procedure.

FIG. 17 illustrates an alternative design for an instrument driver and instrument where the axes of the drive units are parallel to the axis of the elongated shaft of the instrument. As shown, a circular instrument driver 80 comprises four drive units with their drive outputs 81 aligned in parallel at the end of a robotic arm 82. The drive units, and their respective drive outputs 81, are housed in a rotational assembly 83 of the instrument driver 80 that is driven by one of the drive units within the assembly 83. In response to torque provided by the rotational drive unit, the rotational assembly 83 rotates along a circular bearing that connects the rotational assembly 83 to the non-rotational portion 84 of the instrument driver. Power and controls signals may be communicated from the non-rotational portion 84 of the instrument driver 80 to the rotational assembly 83 through electrical contacts may be maintained through rotation by a brushed slip ring connection (not shown). In other embodiments, the rotational assembly 83 may be responsive to a separate drive unit that is integrated into the non-rotatable portion 84, and thus not in parallel to the other drive units. The rotational mechanism 83 allows the instrument driver 80 to rotate the drive units, and their respective drive outputs 81, as a single unit around an instrument driver axis 85.

Like earlier disclosed embodiments, an instrument 86 may comprise an elongated shaft portion 88 and an instrument base 87 (shown with a transparent external skin for discussion purposes) comprising a plurality of drive inputs 89 (such as receptacles, pulleys, and spools) that are configured to receive the drive outputs 81 in the instrument driver 80. Unlike prior disclosed embodiments, instrument shaft 88 extends from the center of instrument base 87 with an axis substantially parallel to the axes of the drive inputs 89, rather than orthogonal as in the design of FIG. 16.

When coupled to the rotational assembly 83 of the instrument driver 80, the medical instrument 86, comprising instrument base 87 and instrument shaft 88, rotates in combination with the rotational assembly 83 about the instrument driver axis 85. Since the instrument shaft 88 is positioned at the center of instrument base 87, the instrument shaft 88 is coaxial with instrument driver axis 85 when attached. Thus, rotation of the rotational assembly 83 causes the instrument shaft 88 to rotate about its own longitudinal axis. Moreover, as the instrument base 87 rotates with the instrument shaft 88, any tendons connected to the drive inputs 89 in the instrument base 87 are not tangled during rotation. Accordingly, the parallelism of the axes of the drive outputs 81, drive inputs 89, and instrument shaft 88 allows for the shaft rotation without tangling any control tendons.

FIG. 18 illustrates an instrument having an instrument based insertion architecture in accordance with some embodiments. The instrument 150 can be coupled to any of the instrument drivers discussed above. The instrument 150 comprises an elongated shaft 152, an end effector 162 connected to the shaft 152, and a handle 170 coupled to the shaft 152. The elongated shaft 152 comprises a tubular member having a proximal portion 154 and a distal portion 156. The elongated shaft 152 comprises one or more channels or grooves 158 along its outer surface. The grooves 158 are configured to receive one or more wires or cables 180 therethrough. One or more cables 180 thus run along an outer surface of the elongated shaft 152. In other embodiments, cables 180 can also run through the elongated shaft 152. Manipulation of the one or more cables 180 (e.g., via an instrument driver) results in actuation of the end effector 162.

The instrument handle 170, which may also be referred to as an instrument base, may generally comprise an attachment interface 172 having one or more mechanical inputs 174, e.g., receptacles, pulleys or spools, that are designed to be reciprocally mated with one or more torque couplers on an attachment surface of an instrument driver.

In some embodiments, the instrument 150 comprises a series of pulleys or cables that enable the elongated shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself comprises an instrument-based insertion architecture that accommodates insertion of the instrument, thereby minimizing the reliance on a robot arm to provide insertion of the instrument 150. In other embodiments, a robotic arm can be largely responsible for instrument insertion.

E. Controller.

Any of the robotic systems described herein can include an input device or controller for manipulating an instrument attached to a robotic arm. In some embodiments, the controller can be coupled (e.g., communicatively, electronically, electrically, wirelessly and/or mechanically) with an instrument such that manipulation of the controller causes a corresponding manipulation of the instrument e.g., via master slave control.

FIG. 19 is a perspective view of an embodiment of a controller 182. In the present embodiment, the controller 182 comprises a hybrid controller that can have both impedance and admittance control. In other embodiments, the controller 182 can utilize just impedance or passive control. In other embodiments, the controller 182 can utilize just admittance control. By being a hybrid controller, the controller 182 advantageously can have a lower perceived inertia while in use.

In the illustrated embodiment, the controller 182 is configured to allow manipulation of two medical instruments, and includes two handles 184. Each of the handles 184 is connected to a gimbal 186. Each gimbal 186 is connected to a positioning platform 188.

As shown in FIG. 19, each positioning platform 188 includes a SCARA arm (selective compliance assembly robot arm) 198 coupled to a column 194 by a prismatic joint 196. The prismatic joints 196 are configured to translate along the column 194 (e.g., along rails 197) to allow each of the handles 184 to be translated in the z-direction, providing a first degree of freedom. The SCARA arm 198 is configured to allow motion of the handle 184 in an x-y plane, providing two additional degrees of freedom.

In some embodiments, one or more load cells are positioned in the controller. For example, in some embodiments, a load cell (not shown) is positioned in the body of each of the gimbals 186. By providing a load cell, portions of the controller 182 are capable of operating under admittance control, thereby advantageously reducing the perceived inertia of the controller while in use. In some embodiments, the positioning platform 188 is configured for admittance control, while the gimbal 186 is configured for impedance control. In other embodiments, the gimbal 186 is configured for admittance control, while the positioning platform 188 is configured for impedance control. Accordingly, for some embodiments, the translational or positional degrees of freedom of the positioning platform 188 can rely on admittance control, while the rotational degrees of freedom of the gimbal 186 rely on impedance control.

F. Navigation and Control.

Traditional endoscopy may involve the use of fluoroscopy (e.g., as may be delivered through a C-arm) and other forms of radiation-based imaging modalities to provide endoluminal guidance to an operator physician. In contrast, the robotic systems contemplated by this disclosure can provide for non-radiation-based navigational and localization means to reduce physician exposure to radiation and reduce the amount of equipment within the operating room. As used herein, the term “localization” may refer to determining and/or monitoring the position of objects in a reference coordinate system. Technologies such as pre-operative mapping, computer vision, real-time EM tracking, and robot command data may be used individually or in combination to achieve a radiation-free operating environment. In other cases, where radiation-based imaging modalities are still used, the pre-operative mapping, computer vision, real-time EM tracking, and robot command data may be used individually or in combination to improve upon the information obtained solely through radiation-based imaging modalities.

FIG. 20 is a block diagram illustrating a localization system 90 that estimates a location of one or more elements of the robotic system, such as the location of the instrument, in accordance to an example embodiment. The localization system 90 may be a set of one or more computer devices configured to execute one or more instructions. The computer devices may be embodied by a processor (or processors) and computer-readable memory in one or more components discussed above. By way of example and not limitation, the computer devices may be in the tower 30 shown in FIG. 1, the cart shown in FIGS. 1-4, the beds shown in FIGS. 5-14, etc.

As shown in FIG. 20, the localization system 90 may include a localization module 95 that processes input data 91-94 to generate location data 96 for the distal tip of a medical instrument. The location data 96 may be data or logic that represents a location and/or orientation of the distal end of the instrument relative to a frame of reference. The frame of reference can be a frame of reference relative to the anatomy of the patient or to a known object, such as an EM field generator (see discussion below for the EM field generator).

The various input data 91-94 are now described in greater detail. Pre-operative mapping may be accomplished through the use of the collection of low dose CT scans. Pre-operative CT scans are reconstructed into three-dimensional images, which are visualized, e.g. as “slices” of a cutaway view of the patient's internal anatomy. When analyzed in the aggregate, image-based models for anatomical cavities, spaces and structures of the patient's anatomy, such as a patient lung network, may be generated. Techniques such as center-line geometry may be determined and approximated from the CT images to develop a three-dimensional volume of the patient's anatomy, referred to as model data 91 (also referred to as “preoperative model data” when generated using only preoperative CT scans). The use of center-line geometry is discussed in U.S. patent application Ser. No. 14/523,760, the contents of which are herein incorporated in its entirety. Network topological models may also be derived from the CT-images, and are particularly appropriate for bronchoscopy.

In some embodiments, the instrument may be equipped with a camera to provide vision data 92. The localization module 95 may process the vision data to enable one or more vision-based location tracking. For example, the preoperative model data may be used in conjunction with the vision data 92 to enable computer vision-based tracking of the medical instrument (e.g., an endoscope or an instrument advance through a working channel of the endoscope). For example, using the preoperative model data 91, the robotic system may generate a library of expected endoscopic images from the model based on the expected path of travel of the endoscope, each image linked to a location within the model. Intra-operatively, this library may be referenced by the robotic system in order to compare real-time images captured at the camera (e.g., a camera at a distal end of the endoscope) to those in the image library to assist localization.

Other computer vision-based tracking techniques use feature tracking to determine motion of the camera, and thus the endoscope. Some features of the localization module 95 may identify circular geometries in the preoperative model data 91 that correspond to anatomical lumens and track the change of those geometries to determine which anatomical lumen was selected, as well as the relative rotational and/or translational motion of the camera. Use of a topological map may further enhance vision-based algorithms or techniques.

Optical flow, another computer vision-based technique, may analyze the displacement and translation of image pixels in a video sequence in the vision data 92 to infer camera movement. Examples of optical flow techniques may include motion detection, object segmentation calculations, luminance, motion compensated encoding, stereo disparity measurement, etc. Through the comparison of multiple frames over multiple iterations, movement and location of the camera (and thus the endoscope) may be determined.

The localization module 95 may use real-time EM tracking to generate a real-time location of the endoscope in a global coordinate system that may be registered to the patient's anatomy, represented by the preoperative model. In EM tracking, an EM sensor (or tracker) comprising of one or more sensor coils embedded in one or more locations and orientations in a medical instrument (e.g., an endoscopic tool) measures the variation in the EM field created by one or more static EM field generators positioned at a known location. The location information detected by the EM sensors is stored as EM data 93. The EM field generator (or transmitter), may be placed close to the patient to create a low intensity magnetic field that the embedded sensor may detect. The magnetic field induces small currents in the sensor coils of the EM sensor, which may be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations may be intra-operatively “registered” to the patient anatomy (e.g., the preoperative model) in order to determine the geometric transformation that aligns a single location in the coordinate system with a position in the pre-operative model of the patient's anatomy. Once registered, an embedded EM tracker in one or more positions of the medical instrument (e.g., the distal tip of an endoscope) may provide real-time indications of the progression of the medical instrument through the patient's anatomy.

Robotic command and kinematics data 94 may also be used by the localization module 95 to provide localization data 96 for the robotic system. Device pitch and yaw resulting from articulation commands may be determined during pre-operative calibration. Intra-operatively, these calibration measurements may be used in combination with known insertion depth information to estimate the position of the instrument. Alternatively, these calculations may be analyzed in combination with EM, vision, and/or topological modeling to estimate the position of the medical instrument within the network.

As FIG. 17 shows, a number of other input data can be used by the localization module 95. For example, although not shown in FIG. 17, an instrument utilizing shape-sensing fiber can provide shape data that the localization module 95 can use to determine the location and shape of the instrument.

The localization module 95 may use the input data 91-94 in combination(s). In some cases, such a combination may use a probabilistic approach where the localization module 95 assigns a confidence weight to the location determined from each of the input data 91-94. Thus, where the EM data may not be reliable (as may be the case where there is EM interference) the confidence of the location determined by the EM data 93 can be decrease and the localization module 95 may rely more heavily on the vision data 92 and/or the robotic command and kinematics data 94.

As discussed above, the robotic systems discussed herein may be designed to incorporate a combination of one or more of the technologies above. The robotic system's computer-based control system, based in the tower, bed and/or cart, may store computer program instructions, for example, within a non-transitory computer-readable storage medium such as a persistent magnetic storage drive, solid state drive, or the like, that, upon execution, cause the system to receive and analyze sensor data and user commands, generate control signals throughout the system, and display the navigational and localization data, such as the position of the instrument within the global coordinate system, anatomical map, etc.

2. Introduction to a Pulley Sharing Wrist

FIG. 21 illustrates a side view of an embodiment of a surgical instrument 200. The surgical instrument 200 can comprise an elongate shaft 202, a handle 204, a wrist 206, and a surgical effector 208. FIG. 22 illustrates an enlarged view of an example surgical effector of a surgical instrument, such as the surgical instrument 200 of FIG. 21 with certain components being shown as transparent.

Existing surgical instruments have included one or more pulleys within a wrist of an instrument wherein each of the pulleys are engaged by a single cable segment. U.S. Pat. No. 9,962,228, the entirety of which is hereby incorporated by reference herein, discloses such a surgical instrument with a wrist having one or more pulleys, wherein each pulley is engaged by a single cable segment.

In contrast, the following embodiments of the present disclosure relate to a novel surgical instrument comprising one or more pulleys that are shared by at least two cable segments. By sharing at least two cable segments on a pulley, the size of the surgical instrument can be reduced by eliminating the number of pulleys on the surgical instrument. For example, in certain embodiments, the outer diameter of the surgical instrument can be reduced to less than 6 mm, such as between 5 mm and 6 mm. In other embodiments, by eliminating the number of pulleys on the surgical instrument, additional components can be added to the surgical instrument without increasing the diameter of the instrument. For example, a working lumen can be added to the surgical instrument in the space previously occupied by a pulley that has been removed as a result of the pulley sharing configurations described herein. In certain circumstances, having cable segments share a pulley can result in increased friction. However, it has been found that in loading situations of the embodiments described herein, the cable segments that are under the most tension are on separate pulleys; as such, the increased friction can be managed while achieving the advantages of the size reduction described above. Along with the reduction in the number of pulleys, the surgical instrument described herein can also include redirect surfaces to direct the cable segments through the surgical instrument. These redirect surfaces can be used instead of pulleys, which can further reduce the size of the surgical instrument. In some embodiments, the redirect surfaces can be stationary. In some embodiments, the redirect surfaces can be found within a distal clevis of the instrument, which is also novel, as discussed below.

As shown in FIG. 22, the surgical instrument 200 can comprise the wrist 206 and the surgical effector 208, the elongate shaft 202, a proximal clevis 250, a distal clevis 260, proximal pulleys 220 and distal pulleys 222. The wrist 206 can be mechanically coupled to the surgical effector 208. The distal clevis 260 can be located distally in relation to the proximal clevis 250. Likewise, the distal pulleys 222 can be located distally in relation to the proximal pulleys 220. The surgical effector 208 can be coupled to a robotic arm and can actuate in multiple degrees of movement. In the illustrated embodiment, the surgical effector 208 has degrees of movement about a pitch axis 290 and a yaw axis 292 as will be described in more detail below. In some embodiments, the surgical effector 208 can have N+1 cable segments and N degrees of freedom of movement. For example, the surgical effector 208 can be a two degree-of-freedom wrist, pivotable around the pitch axis 290 and the yaw axis 292. In some embodiments, as shown in FIG. 22, the surgical effector 208 can comprise at least four cable segments to control at least three degrees of freedom, such as, for example, pitch, yaw and grip. In some embodiments, at least two cable segments independent from one another can engage opposing sides of at least one pulley of the proximal pulleys 220 or the distal pulleys 222.

FIGS. 23A and 23B show illustrations of the surgical wrist 206 with housing removed. As shown in greater detail in FIG. 23A, the wrist 206 can comprise four cable segments including a first cable segment 230, a second cable segment 232, a third cable segment 234 and a fourth cable segment 236. In some embodiments, the cable segments can be portions of the same cable. For example, the first cable segment 230 and the second cable segment 232 can be portions of the same cable. Likewise, in some embodiments, the third cable segment 234 and the fourth cable segment 236 can be portions of the same cable. In some embodiments, the first cable segment 230 and the second cable segment 232 can be separated by a medial crimp. Likewise, in some embodiments, the third cable segment 234 and the fourth cable segment 236 can be separated by a medial crimp. The cable segments can extend through the elongate shaft 202 and extend through the proximal clevis 250. The cable segments then can engage at least a portion of the proximal pulleys 220 and extend towards the distal clevis 260. The cable segments then can engage at least a portion of the distal pulleys 222. Each of the cable segments 230, 232, 234, 236 can engage the proximal redirect surfaces 252 and distal redirect surfaces 262 as shown in FIG. 24B, and the proximal pulleys 220 and the distal pulleys 222 as shown in FIG. 24A. As shown in FIG. 23B, the proximal pulleys 220 can comprise two pulleys 220 a, 220 b that are each shared by two cable segments.

As shown in FIG. 22, the proximal clevis 250 can mechanically attached to the distal end of the elongate shaft 202. The proximal clevis 250 can comprise proximal redirect surfaces 252, as shown in FIG. 26A, that redirect the cable segments towards the proximal pulleys 220. The proximal redirect surfaces 252 of the proximal clevis 250 can reduce, or in some cases, prevent tangling or shearing of the cable segments 230, 232, 234, 236. The proximal redirect surfaces 252 can reduce the amount of friction between the cable segments and the proximal clevis 250. The distal clevis 260 can be disposed in part between the proximal pulleys 220 and the distal pulleys 222. In some embodiments, the distal clevis 260 can be mechanically coupled to both the proximal pulleys 220 and the distal pulleys 222.

FIG. 24A shows a side view of the wrist 206, showing additional detail of the interaction between the cable segments 230, 232, 234, 236 and the proximal pulleys 220 and the distal pulleys 222. FIG. 24B shows another side view of the wrist 206, with additional detail showing the interaction between the cable segments 230, 232, 234, 236 and a proximal clevis 250 and a distal clevis 260. In the present embodiment, the proximal pulleys 220 and the distal pulleys 222 each can comprise two pulleys. In other embodiments, the proximal pulleys 220 and the distal pulleys 222 each comprise two or more pulleys (such as three, four, five or six). In some embodiments, the two pulleys 220 a, 220 b of the proximal pulleys 220 can be adjacent to one another and aligned along the pitch axis 290. In some embodiments, each of the two pulleys 220 a, 220 b of the proximal pulleys 220 can be offset from a central axis 294 of the wrist 206 such that a working lumen is positioned between the pulleys. The working lumen can, for example, accommodate one or more electrical cables, suction irrigation tubes, or other tubular members. In some embodiments, the working lumen can be between 0.5 and 4.5 mm. In some embodiments, the two pulleys 222 a, 222 b of the distal pulleys 222 can be adjacent to one another and aligned along the yaw axis 292. In some embodiments, each of the two pulleys 222 a, 222 b of the distal pulleys 222 can be offset from the central axis 294 of the wrist 206 such that a working lumen is positioned between the pulleys.

As shown in FIGS. 23B and 24A, each pulley of the proximate pulleys 220 can be shared by two cable segments. For example, as shown in FIG. 23A, the first cable segment 230 and the second cable segment 232 can be routed on a first side of the proximal pulleys 220 while the third cable segment 234 and the fourth cable segment 236 can be routed on a second side of the proximal pulleys 220. In such a configuration, the first cable segment 230 and the third cable segment 234 advantageously engage the first pulley 220 a of the proximal pulleys 220, while the second cable segment 232 and the fourth cable segment 236 advantageously engage the second pulley 220 b of the proximal pulleys 220. In other words, the first pulley 220 a is shared by the first cable segment 230 and the third cable segment 234 (which would not be considered as part of the same cable), while the second pulley 220 b is shared by the second cable segment 232 and the fourth cable segment 236 (which would not be considered as part of the same cable). Note that since the first cable segment 230 and the third cable segment 234 would not be viewed as part of the same cable, and the second cable segment 232 and the fourth cable segment 236 would not be viewed as part of the same cable, an aspects of the novelty of certain embodiments described herein involves a pulley that is shared by a first cable segment or cable that is separate, independent and/or independently actuated from a second cable segment or cable. In some embodiments, the term “independently actuated” can mean that the cable segments (e.g., the first cable segment 230 and the third cable segment 234) can move independently and/or at different rates from one another. In some embodiments, the independent cable segments move in equal but opposite mounts about the distal pulleys and/or proximal pulleys. In some embodiments, neither of the cables or cable segments that are shared around a proximal pulley engage with or intersect with one another. In some embodiments, neither of the cables or cable segments that are shared around a proximal pulley are directly connected to one another, such as via a crimp. Such pulley sharing configuration allows the wrist 206 to have less pulleys for the same degree of freedom of movement, which can allow the wrist 206 and the elongate shaft 202 to have a smaller outer diameter (e.g., less than 6 mm in certain embodiments and between 6 mm and 5 mm in certain embodiments) and/or for additional components to be added to the surgical instrument in the place of the removed pulleys such as, for example, a working lumen that can extend between the distal pulleys 222 a, 222 b and/or proximal pulleys 220 a, 220 b.

The cable segments can be further configured so that retracting or advancing a cable segment can actuate the surgical effector 208 to move in a first degree of movement. In one embodiment, shown in FIGS. 23A, 23B, 23C and 23D, the surgical effector 208 can have three degrees of movement created by rotation of the proximal pulleys 220 and the distal pulleys 222 about the pitch axis 290 and the yaw axis 292, respectively. The surgical effector 208 of the illustrated embodiment includes a first forceps half 208 a and a second forceps half 208 b that are operatively connected to the first pulley 222 a and the second pulley 222 b of the distal pulleys 222, respectively. Thus rotation of the first pulley 222 a of the distal pulleys 222 about the yaw axis 292 can cause rotation of the first forceps half 208 a about the yaw axis 292. Similarly, rotation of the second pulley 222 b of the distal pulleys 222 about the yaw axis 292 can cause rotation of the second forceps half 208 b about the yaw axis 292. In some embodiments, pitch motion of the surgical effector 208 can be actuated by a combination of cable segment actuations, such as an even lengthening of cable segments 234, 236 matched with an even shortening of cable segments 230, 232, which can cause the distal clevis to rotate about the pitch axis 290. In other embodiments, the surgical effector 208 can be actuated about the pitch axis 290 when the proximal pulleys 220 are rotated about the pitch axis 290.

In the embodiment shown in FIGS. 23A, 23B, 23C, and 23D, the rotation of the proximal pulleys 220 and the distal pulleys 222 is caused by retracting or advancing the cable segments 230, 232, 234, 236. In certain embodiments, an input controller can be coupled to each of the four cable segments 230, 232, 234, 236. In such arrangements, the first input controller can advance/retract the first cable segment 230; the second input controller can advance/retract the second cable segment 232; the third input controller can advance/retract the third cable segment 234; and, the fourth input controller can advance/retract the fourth cable segment 236. The first cable segment 230 and the third cable segment 234 can share the first pulley 220 a of the proximal pulleys 220 while the second cable segment 232 and the fourth cable segment 236 can share the second pulley 220 b of the proximal pulleys 220. With this configuration, as noted earlier, the outer diameter of the surgical effector 208 and the surgical wrist 206 can be reduced and in certain embodiments reduced to a diameter that is less than 6 mm, such as between 5 and 6 mm.

FIGS. 23A and 23B illustrate the surgical effector 208 in an example “neutral” state, i.e., the first yaw angle 272, the second yaw angle 274, and the pitch angle 270 are not offset from the central axis 294, with no cable segments being advanced or retracted. The first yaw angle 272 can be manipulated by advancing/retracting the first cable segment 230 and retracting/advancing the second cable segment 232.

FIG. 23C illustrates the two forceps halves 208 a and 208 b of the surgical effector 208 rotated at the first yaw angle 272 and the second yaw angle 274 about the yaw axis 292. FIGS. 23C and 23D demonstrate the potential yaw and pitch movement of the surgical effector 208 in accordance with some embodiments. As shown in FIG. 23C, advancing the first cable 230 and/or retracting the second cable 232 causes the first pulley 220 a of the distal pulleys 220 and the first forceps half 208 a to rotate about the yaw axis 292 such that the first yaw angle 272 increases. On the other hand, retracting the first cable segment 230 and/or advancing the second cable segment 232 causes the first pulley 220 a of the distal pulleys 220 and the first forceps half 208 a to rotate about the yaw axis 292 such that the first yaw angle 272 decreases. Similarly, the second yaw angle 274 can be manipulated by advancing/retracting the third cable 234 and retracting/advancing the fourth cable 236. Advancing the third cable 234 and/or retracting the fourth cable 236 causes the second pulley 220 b of the distal pulleys 220 and the second forceps half 208 b to rotate about the yaw axis 292 such that the second yaw angle 274 increases. On the other hand, retracting the third cable 234 and/or advancing the fourth cable 236 causes the second pulley 220 b of the distal pulleys 220 and the second forceps half 208 b to rotate about the yaw axis 292 such that the second yaw angle 274 decreases.

FIG. 23D illustrates the surgical effector 208 rotated at the pitch angle 270 about the pitch axis 290. As shown in FIG. 23D, the pitch angle 270 of the surgical effector 208 can be manipulated by retracting/advancing the first cable segment 230 and the second cable segment 232 and advancing/retracting the third cable segment 234 and the fourth cable segment 236. On the other hand, advancing both the first cable segment 230 and the second cable segment 232 and retracting both the third cable segment 234 and the fourth cable segment 236 can cause the proximal pulleys 220 to rotate about the yaw axis such that the pitch angle 270 decreases.

The above description is a configuration controlling the degrees of freedom in which each movement can be asynchronous and controlled independently. However, in certain robotic surgical operations the degrees of freedom can be changed simultaneously. One skilled in the art will note that simultaneous motion about the three controllable degrees of freedom can be accomplished by a more complex control scheme for advancing and retracting the four cable segments 230, 232, 234, 236. In some embodiments, the four cable segments 230, 232, 234, 236 are formed of a metal, while in other embodiments, the four cable segments are formed of a non-metal. In one embodiment, this control scheme involves a computer-based control system that stores computer program instructions of a master device configured to interpret the motions of the user into corresponding actions of the surgical effector 208 at the surgical site. The computer program may be configured to measure the electric load required to rotate the input controllers to compute the length and/or movement of the cable segments. The computer program may be further configured to compensate for changes in cable segment elasticity, such as if the cables are a polymer, by increasing/decreasing the amount of rotation needed for the input controllers to change the length of a cable segment. The tension may be adjusted by increasing or decreasing the rotation of all the input controllers in coordination. The tension can be increased by simultaneously increasing rotation, and the tension can be decreased by simultaneously decreasing rotation. The computer program may be further configured to maintain a minimum level of tension in the cables. If the tension in any of the cables is sensed to drop below a lower minimum tension threshold, then the computer program may increase rotation of all input controllers in coordination until the cable tension in all cables is above the lower minimum tension threshold. If the tension in all of the cables is sensed to rise above an upper minimum tension threshold, then the computer program may decrease rotation of all input controllers in coordination until the cable tension in any of the cables is below the upper minimum tension threshold. The computer program may be further configured to recognize the grip strength of the operator based on the load of the motors actuating the input controllers coupled to the cable segments, particularly in a situation where the working members are holding on to an object or are pressed together. More generally, the computer program may be further configured to further control the translation and rotation of the surgical instrument via the robotic arm, which in certain embodiments can include an instrument driver 75 with drive outputs 74 as described above with reference to FIG. 16. Torque received from the drive outputs 74 of the instrument driver 75 can be used to separately and/or independently actuate cable segments 230, 232, 234, 236. In certain embodiments, each of the drive outputs 74 can be used to actuate a single cable segment.

FIG. 25A shows a top perspective view of an embodiment of a distal clevis 260. The distal clevis 260 can comprise two arms 264 and distal redirect surfaces 262. The distal clevis 260 and the distal redirect surfaces 262 can be configured to be formed between the proximate pulleys 220 and the distal pulleys 222 as shown in FIGS. 24A and 24B. Optionally, the distal redirect surface 262 of the distal clevis 260 can be positioned between a first set of pulleys (for example, the proximate pulleys 220) and a second set of pulleys (for example, the distal pulleys 222). The two arms 264 can extend distally from side portions of the distal clevis 260 towards the surgical effector 208 (not shown). Each of the two arms 264 can be configured to comprise an opening 266 that extends through a width of the two arms 264. The openings 266 can be positioned and configured such that an elongate rod 282 can be inserted into the openings 266 and the distal pulleys 222, as shown in FIGS. 23B and 24B. The elongate rod 282 and the openings 266 can be configured to define a rotation axis for the distal pulleys 222. In some embodiments, the rotation axis associated with the distal clevis 260 and the distal pulleys 222 can be a yaw axis 292, as shown in FIG. 22.

The distal redirect surfaces 262 can comprise one or more surfaces extending about or around slots, recesses or openings 268 extending through a bottom portion of the distal clevis 260, as shown in FIG. 25A. In some embodiments, the distal redirect surfaces 262 are part of one or more surfaces that form a perimeter of the one or more openings 268 of the distal clevis 260. The distal redirect surfaces 262 can be angled, curved or sloped such that they can reduce friction between the cable segments 230, 232, 234, 236 and the distal clevis 260 when the cable segments are retracted or advanced to actuate the surgical effector 208 as described above. In some embodiments, the distal redirect surfaces are configured to increase cable life by maximizing a radius of curvature. The distal redirect surfaces 262 can also be configured to prevent the cable segments 230, 232, 234, 236 from tangling or twisting. In some embodiments, the distal redirect surfaces 262 can be stationary. In some embodiments, the distal redirect surfaces 262 can be non-stationary. In some embodiments, the distal redirect surfaces 262 can comprise of at least one moveable component such as a rotatable ball or surface configured to engage the cable segments 230, 232, 234, 236. In some embodiments, the cable segments can be configured to engage at least a portion of the distal redirect surfaces 262. In some embodiments, the cable segments can be configured to engage the entire portion of distal redirect surfaces 262. In some embodiments, the distal redirect surfaces 262 of the distal clevis 260 may be coated with a material to reduce friction between the distal redirect surfaces 254 and the cable segments.

As shown in FIG. 25B, the cable segments 230, 232, 234, 236 extend through the distal clevis 260 toward the distal pulleys 222 (not shown). FIG. 26C illustrates an embodiment of a configuration of the cable segments 230, 232, 234, 236 after extending through the distal clevis 260 and the distal redirect surfaces 262. After extending through the distal redirect surfaces 262, the cable segments extend around the distal pulleys 222. In some embodiments, as shown in FIG. 23B, the cable segments 230, 232, 234, 236 actively engage at least a portion of a plurality of grooves of the distal pulleys 222 (not shown). In some embodiments, the cable segments actively engage the entire portion of the plurality of grooves of the distal pulley 222. As shown in FIGS. 23B and 24A, each of the plurality of grooves of the distal pulleys 222 can be configured to engage two cable segments. For example, in the embodiment shown in FIGS. 24A and 25C, the first cable segment 230 and the second cable segment 232 engage the first pulley 222 a of the distal pulleys 222 while the third cable segment 234 and the fourth cable segment 236 engage the second pulley 222 b of the distal pulleys 222. In some embodiments, the cable segments 230, 232, 234, 236 can be configured such that they do not intersect one another. The cable segments 230, 232, 234, 236 can be further configured so that retracting or advancing a cable segment extending about a first side of a first pulley of the distal pulley 222 operatively coupled to the surgical effector 208 actuates the surgical effector 208 in a first degree of movement, and advancing or retracting a second cable segment extending about a second side of the first pulley of the distal pulley 222 actuates the surgical effector 208 in a second degree of movement.

FIG. 26A shows a top view of an embodiment of a proximal clevis 250. The proximal clevis 250 can comprise of two arms 254 and proximal redirect surfaces 252. The proximal clevis 250 and the proximal redirect surfaces 252 can be configured to be formed between the elongate shaft 202 (not shown) and the proximal pulleys 220 (not shown). The two arms 254 can extend distally from side portions of the proximal clevis 250 towards the surgical effector 208, as shown in FIG. 23A. Each of the two arms 254 can be configured to have an opening 256 that extends through a width of the two arms 254, as shown in FIG. 26C. The openings 256 can be positioned and configured such that a first elongate rod 280 can be inserted into the openings 256 and the proximal pulleys 220 as shown in FIGS. 23B and 26C. The first elongate rod 280 and the openings 256 can be configured to define a rotation axis for the distal pulleys 222. In some embodiments, the rotation axis associated with the proximal clevis 250 and the proximal pulleys 220 can be a pitch axis 290, as shown in FIG. 22.

The proximal redirect surfaces 252 can comprise one or more surfaces extending about or around slots, recesses or openings 258 extending through a bottom portion of the proximal clevis 250. In some embodiments, the proximal redirect surfaces 252 can be part of one or more surfaces that form a perimeter of one or more openings 268 of the proximal clevis 250. The proximal redirect surfaces 252 can be angled, curved or sloped such that they can reduce friction between the cable segments 230, 232, 234, 236 and the proximal clevis 250 when the cable segments are retracted or advanced to actuate the surgical effector 208 as described above. The proximal redirect surfaces 252 can also be configured to prevent the cable segments 230, 232, 234, 236 from tangling or twisting. In some embodiments, the proximal redirect surfaces 252 can be stationary. In some embodiments, the proximal redirect surfaces 252 can be non-stationary. For example, the proximal redirect surfaces 252 can comprise of at least one moveable components such as rotatable balls or surfaces configured to engage the cable segments 230, 232, 234, 236. In some embodiments, the cable segments 230, 232, 234, 236 can be configured to engage at least a portion of the proximal redirect surfaces 252. In some embodiments, the cable segments can be configured to engage the entire portion of proximal redirect surfaces 252.

As shown in FIG. 26B, the cable segments 230, 232, 234, 236 can be configured to extend through the proximal clevis 250 toward the proximal pulleys 220 (not shown in FIG. 26B). FIGS. 23B, 24A and 24B illustrate an embodiment of a configuration of the cable segments 230, 232, 234, 236 after extending through the proximal clevis 250 and the proximal redirect surfaces 252. After extending through the proximal redirect surfaces 252, the cable segments can be configured to extend around the proximal pulleys 220. In some embodiments, the cable segments 230, 232, 234, 236 can be configured to actively engage at least a portion of a plurality of grooves of the proximal pulleys 220. In some embodiments, the cable segments 230, 232, 234, 236 can be configured to actively engage the entire portion of the plurality of grooves of the proximal pulleys 220. As shown in FIG. 26C, each of the plurality of grooves of the proximal pulleys 220 can be configured to engage two cable segments. In some embodiments, the cable segments 230, 232, 234, 236 can be configured such that they do not intersect another. The cable segments 230, 232, 234, 236 can be further configured so that retracting or advancing a cable segment extending about a first side of a first pulley of the proximal pulley 220 operatively coupled to the surgical effector 208 actuates the surgical effector 308 in a first degree of movement, and advancing or retracting a second cable segment extending about a second side of the first pulley of the distal pulley 222 actuates the surgical effector 208 in a second degree of movement.

FIG. 26C illustrates a side view of the proximal clevis 250. The proximal clevis con comprise the proximal redirect surfaces 252. The proximal redirect surfaces 252 can be configured to redirect the cable segments 230, 232, 234, 236 from substantially near the center of the proximal clevis 250 and the elongated shaft 202 (not shown) to the grooves of the proximal pulleys 220. In some embodiments, the proximal redirect surfaces 252 of the proximal clevis 250 can comprise one or more movable surfaces. In some embodiments, the proximal redirect surfaces 252 of the proximal clevis 250 can be coated with a material to reduce friction between the proximal redirect surface 252 and the cable segments. In some embodiments, the cable segments can be configured to engage at least a portion of the proximal redirect surfaces 252. In some embodiments, the cable segments can be configured to engage the entire portion of proximal redirect surfaces 252.

3. Implementing Systems and Terminology

Implementations disclosed herein provide system, methods, and apparatus for robotically-enabled medical systems. Various implementations described herein include robotically-enabled medical systems with a wrist comprising one or more pulleys shared by cable segments.

It should be noted that the terms “couple,” “coupling,” “coupled” or other variations of the word couple as used herein may indicate either an indirect connection or a direct connection. For example, if a first component is “coupled” to a second component, the first component may be either indirectly connected to the second component via another component or directly connected to the second component.

The robotic motion actuation functions described herein may be stored as one or more instructions on a processor-readable or computer-readable medium. The term “computer-readable medium” refers to any available medium that can be accessed by a computer or processor. By way of example, and not limitation, such a medium may comprise random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disc read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. It should be noted that a computer-readable medium may be tangible and non-transitory. As used herein, the term “code” may refer to software, instructions, code or data that is/are executable by a computing device or processor.

The methods disclosed herein comprise one or more steps or actions for achieving the described method. The method steps and/or actions may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is required for proper operation of the method that is being described, the order and/or use of specific steps and/or actions may be modified without departing from the scope of the claims.

As used herein, the term “plurality” denotes two or more. For example, a plurality of components indicates two or more components. The term “determining” encompasses a wide variety of actions and, therefore, “determining” can include calculating, computing, processing, deriving, investigating, looking up (e.g., looking up in a table, a database or another data structure), ascertaining and the like. Also, “determining” can include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory) and the like. Also, “determining” can include resolving, selecting, choosing, establishing and the like.

The phrase “based on” does not mean “based only on,” unless expressly specified otherwise. In other words, the phrase “based on” describes both “based only on” and “based at least on.”

The previous description of the disclosed implementations is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these implementations will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other implementations without departing from the scope of the invention. For example, it will be appreciated that one of ordinary skill in the art will be able to employ a number corresponding alternative and equivalent structural details, such as equivalent ways of fastening, mounting, coupling, or engaging tool components, equivalent mechanisms for producing particular actuation motions, and equivalent mechanisms for delivering electrical energy. Thus, the present invention is not intended to be limited to the implementations shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. 

What is claimed is:
 1. A surgical instrument comprising: a surgical effector having multiple degrees of movement; a wrist coupled to the surgical effector, the wrist including at least a first pulley; at least two cable segments extending through the wrist to the surgical effector to actuate the surgical effector in the multiple degrees of movement, wherein the at least two cable segments engage opposing sides of the first pulley and are independently movable and distinct from one another.
 2. The surgical instrument of claim 1, wherein the multiple degrees of movement of the surgical effector includes rotation about a pitch axis and wherein the first pulley also rotates about the pitch axis.
 3. The surgical instrument of claim 1, wherein the surgical effector has at least N degrees of freedom of movement which are controlled by N+1 cable segments extending through the wrist to the surgical effector.
 4. The surgical instrument of claim 1, wherein the surgical effector has at least three degrees of movement and the surgical system includes at least four cable segments.
 5. The surgical instrument of claim 4, wherein the three degrees of movement include a first yaw angle, a second yaw angle and a pitch angle of the surgical effector.
 6. The surgical instrument of claim 1, wherein the wrist includes at least two pulleys aligned along a pitch axis of the surgical effector.
 7. The surgical instrument of claim 6, wherein the at least two pulleys are positioned adjacent to one another.
 8. The surgical instrument of claim 6, wherein the at least two pulleys are spaced apart from each other and offset from a central axis of the wrist.
 9. The surgical instrument of claim 6, wherein the at least two pulleys are the only pulleys in the wrist aligned with the pitch axis.
 10. The surgical instrument of claim 1, wherein the first pulley is part of a proximal set of pulleys.
 11. The surgical instrument of claim 10, wherein the surgical instrument further comprises a distal set of pulleys relative to the proximal set of pulleys.
 12. The surgical instrument of claim 11, wherein the at least two cable segments engaging opposing sides of at least one pulley of the proximal set of pulleys.
 13. The surgical instrument of claim 11, wherein the at least two cable segments engaging opposing sides of at least one pulley of the distal set of pulleys.
 14. The surgical instrument of claim 10, wherein one or more redirect surfaces are formed between the proximal set of pulleys and the distal set of pulleys.
 15. The surgical instrument of claim 14, wherein the one or more redirect surfaces are stationary. 